OpenRaiser/Intern-Atlas huggingface dataset:
RobotxR1: Enabling Embodied Robotic Intelligence on Large Language Models through Closed-Loop Reinforcement Learning
Venue: arXiv cs.RO 2025
Year: 2025

Future robotic systems operating in real-world environments will require on-board embodied intelligence without continuous cloud connection, balancing capabilities with constraints on computational power and memory. This work presents an extension of the R1-zero approach, which enables the usage of low parameter-count Large Language Models (LLMs) in the robotic domain. The R1-Zero approach was originally developed to enable mathematical reasoning in LLMs using static datasets. We extend it to the robotics domain through integration in a closed-loop Reinforcement Learning (RL) framework. This extension enhances reasoning in Embodied Artificial Intelligence (Embodied AI) settings without relying solely on distillation of large models through Supervised Fine-Tuning (SFT). We show that small-scale LLMs can achieve effective reasoning performance by learning through closed-loop interaction with their environment, which enables tasks that previously required significantly larger models. In an autonomous driving setting, a performance gain of 20.2%-points over the SFT-based baseline is observed with a Qwen2.5-1.5B model. Using the proposed training procedure, Qwen2.5-3B achieves a 63.3% control adaptability score, surpassing the 58.5% obtained by the much larger, cloud-bound GPT-4o. These results highlight that practical, on-board deployment of small LLMs is not only feasible but can outperform larger models if trained through environmental feedback, underscoring the importance of an interactive learning framework for robotic Embodied AI, one grounded in practical experience rather than static supervision.
SonicRAG : High Fidelity Sound Effects Synthesis Based on Retrival Augmented Generation
Venue: arXiv cs.SD 2025
Year: 2025

Large Language Models (LLMs) have demonstrated remarkable capabilities in natural language processing (NLP) and multimodal learning, with successful applications in text generation and speech synthesis, enabling a deeper understanding and generation of multimodal content. In the field of sound effects (SFX) generation, LLMs have been leveraged to orchestrate multiple models for audio synthesis. However, due to the scarcity of annotated datasets, and the complexity of temproal modeling. current SFX generation techniques still fall short in achieving high-fidelity audio. To address these limitations, this paper introduces a novel framework that integrates LLMs with existing sound effect databases, allowing for the retrieval, recombination, and synthesis of audio based on user requirements. By leveraging this approach, we enhance the diversity and quality of generated sound effects while eliminating the need for additional recording costs, offering a flexible and efficient solution for sound design and application.
Enabling Robots to Autonomously Search Dynamic Cluttered Post-Disaster Environments
Venue: arXiv cs.RO 2025
Year: 2025

Robots will bring search and rescue (SaR) in disaster response to another level, in case they can autonomously take over dangerous SaR tasks from humans. A main challenge for autonomous SaR robots is to safely navigate in cluttered environments with uncertainties, while avoiding static and moving obstacles. We propose an integrated control framework for SaR robots in dynamic, uncertain environments, including a computationally efficient heuristic motion planning system that provides a nominal (assuming there are no uncertainties) collision-free trajectory for SaR robots and a robust motion tracking system that steers the robot to track this reference trajectory, taking into account the impact of uncertainties. The control architecture guarantees a balanced trade-off among various SaR objectives, while handling the hard constraints, including safety. The results of various computer-based simulations, presented in this paper, showed significant out-performance (of up to 42.3%) of the proposed integrated control architecture compared to two commonly used state-of-the-art methods (Rapidly-exploring Random Tree and Artificial Potential Function) in reaching targets (e.g., trapped victims in SaR) safely, collision-free, and in the shortest possible time.
Mamba-Diffusion Model with Learnable Wavelet for Controllable Symbolic Music Generation
Venue: arXiv cs.SD 2025
Year: 2025

The recent surge in the popularity of diffusion models for image synthesis has attracted new attention to their potential for generation tasks in other domains. However, their applications to symbolic music generation remain largely under-explored because symbolic music is typically represented as sequences of discrete events and standard diffusion models are not well-suited for discrete data. We represent symbolic music as image-like pianorolls, facilitating the use of diffusion models for the generation of symbolic music. Moreover, this study introduces a novel diffusion model that incorporates our proposed Transformer-Mamba block and learnable wavelet transform. Classifier-free guidance is utilised to generate symbolic music with target chords. Our evaluation shows that our method achieves compelling results in terms of music quality and controllability, outperforming the strong baseline in pianoroll generation. Our code is available at https://github.com/jinchengzhanggg/proffusion.
SD-VSum: A Method and Dataset for Script-Driven Video Summarization
Venue: arXiv cs.CV 2025
Year: 2025

In this work, we introduce the task of script-driven video summarization, which aims to produce a summary of the full-length video by selecting the parts that are most relevant to a user-provided script outlining the visual content of the desired summary. Following, we extend a recently-introduced large-scale dataset for generic video summarization (VideoXum) by producing natural language descriptions of the different human-annotated summaries that are available per video. In this way we make it compatible with the introduced task, since the available triplets of ``video, summary and summary description'' can be used for training a method that is able to produce different summaries for a given video, driven by the provided script about the content of each summary. Finally, we develop a new network architecture for script-driven video summarization (SD-VSum), that employs a cross-modal attention mechanism for aligning and fusing information from the visual and text modalities. Our experimental evaluations demonstrate the advanced performance of SD-VSum against SOTA approaches for query-driven and generic (unimodal and multimodal) summarization from the literature, and document its capacity to produce video summaries that are adapted to each user's needs about their content.
Miniature multihole airflow sensor for lightweight aircraft over wide speed and angular range
Venue: arXiv cs.RO 2025
Year: 2025

An aircraft's airspeed, angle of attack, and angle of side slip are crucial to its safety, especially when flying close to the stall regime. Various solutions exist, including pitot tubes, angular vanes, and multihole pressure probes. However, current sensors are either too heavy (>30 g) or require large airspeeds (>20 m/s), making them unsuitable for small uncrewed aerial vehicles. We propose a novel multihole pressure probe, integrating sensing electronics in a single-component structure, resulting in a mechanically robust and lightweight sensor (9 g), which we released to the public domain. Since there is no consensus on two critical design parameters, tip shape (conical vs spherical) and hole spacing (distance between holes), we provide a study on measurement accuracy and noise generation using wind tunnel experiments. The sensor is calibrated using a multivariate polynomial regression model over an airspeed range of 3-27 m/s and an angle of attack/sideslip range of +-35°, achieving a mean absolute error of 0.44 m/s and 0.16°. Finally, we validated the sensor in outdoor flights near the stall regime. Our probe enabled accurate estimations of airspeed, angle of attack and sideslip during different acrobatic manoeuvres. Due to its size and weight, this sensor will enable safe flight for lightweight, uncrewed aerial vehicles flying at low speeds close to the stall regime.
The Inverse Drum Machine: Source Separation Through Joint Transcription and Analysis-by-Synthesis
Venue: arXiv cs.SD 2025
Year: 2025

We present the Inverse Drum Machine, a novel approach to Drum Source Separation that leverages an analysis-by-synthesis framework combined with deep learning. Unlike recent supervised methods that require isolated stem recordings for training, our approach is trained on drum mixtures with only transcription annotations. IDM integrates Automatic Drum Transcription and One-shot Drum Sample Synthesis, jointly optimizing these tasks in an end-to-end manner. By convolving synthesized one-shot samples with estimated onsets, akin to a drum machine, we reconstruct the individual drum stems and train a Deep Neural Network on the reconstruction of the mixture. Experiments on the StemGMD dataset demonstrate that IDM achieves separation quality comparable to state-of-the-art supervised methods that require isolated stems data.
DroidRetriever: An Autonomous Navigation and Information Integration System Facilitating Mobile Sensemaking
Venue: arXiv cs.HC 2025
Year: 2025

Users regularly rely on mobile applications for their daily information needs, and mobile sensemaking is prevalent in various domains such as education, healthcare, business intelligence, and emergency response, where timely and context-aware information-processing and decision-making is critical. However, valuable information is often scattered across the closed ecosystems within various applications, posing challenges for traditional search engines to retrieve data openly and in real-time. Additionally, due to limitations such as mobile device screen sizes, language differences, and unfamiliarity with specific applications and domain knowledge, users have to frequently switch between multiple applications and spend substantial time locating and integrating the information. To address these challenges, we present DroidRetriever, a system for cross-application information retrieval to facilitate mobile sensemaking. DroidRetriever can automatically navigate to relevant interfaces based on users' natural language commands, capture screenshots, extract and integrate information, and finally present the results. Our experimental results demonstrate that DroidRetriever can extract and integrate information with near-human accuracy while significantly reducing processing time. Furthermore, with minimal user intervention, DroidRetriever effectively corrects and completes various information retrieval tasks, substantially reducing the user's workload. Our summary of the motivations for intervention and the discussion of their necessity provide valuable implications for future research. We will open-source our code upon acceptance of the paper.
GPU Implementation of the Wavelet Tree
Venue: arXiv cs.DS 2025
Year: 2025

I present a new GPU implementation of the wavelet tree data structure. It includes binary rank and select support structures that provide at least 10 times higher throughput of binary rank and select queries than the best publicly available CPU implementations at comparable storage overhead. My work also presents a new parallel tree construction algorithm that, when excluding the time to copy the data from the CPU to the GPU, outperforms the current state of the art. The GPU implementation, given enough parallelism, processes access, rank, and select queries at least 2x faster than the wavelet tree implementation contained in the widely used Succinct Data Structure Library (SDSL), including the time necessary to copy the queries from the CPU to the GPU and the results back to the CPU from the GPU.
Truthful Facility Location with Candidate Locations and Limited Resources
Venue: arXiv cs.GT 2025
Year: 2025

We study a truthful facility location problem where one out of $k\geq2$ available facilities must be built at a location chosen from a set of candidate ones in the interval $[0,1]$. This decision aims to accommodate a set of agents with private positions in $[0,1]$ and approval preferences over the facilities; the agents act strategically and may misreport their private information to maximize their utility, which depends on the chosen facility and their distance from it. We focus on strategyproof mechanisms that incentivize the agents to act truthfully and bound the best possible approximation of the optimal social welfare (the total utility of the agents) they can achieve. We first show that deterministic mechanisms have unbounded approximation ratio, and then present a randomized mechanism with approximation ratio $k$, which is tight even when agents may only misreport their positions. For the restricted setting where agents may only misreport their approval preferences, we design a deterministic mechanism with approximation ratio of roughly $2.325$, and establish lower bounds of $3/2$ and $6/5$ for deterministic and randomized mechanisms, respectively.
Advancing Remote and Continuous Cardiovascular Patient Monitoring through a Novel and Resource-efficient IoT-Driven Framework
Venue: arXiv cs.NI 2025
Year: 2025

Cardiovascular diseases are a leading cause of fatalities worldwide, often occurring suddenly with limited time for intervention. Current healthcare monitoring systems for cardiac patients rely heavily on hospitalization, which can be impractical for continuous monitoring. This paper presents a novel IoT-based solution for remote, real-time tracking of critical cardiac metrics, addressing the pressing need for accessible and continuous healthcare, particularly for the aging population in Pakistan. The proposed IoT kit measures essential parameters such as body temperature, heart rate (HR), blood pressure (BP), oxygen saturation (SPO2), and electrocardiography (ECG). A key innovation of the system is its integration with a cloud-based application, enabling constant remote monitoring and incorporating an alarm mechanism to alert medical professionals for timely intervention, reducing the risk of catastrophic incidents. The system was tested in a clinical environment with 20 participants, demonstrating results closely aligned with those obtained using standard medical devices. The findings validate the system's potential for reliable remote monitoring, offering a significant step forward in proactive cardiac healthcare management. This novel approach combines IoT technology with cloud-based applications to provide a cost-effective and efficient solution for reducing unexpected fatalities among cardiac patients.
CXR-AD: Component X-ray Image Dataset for Industrial Anomaly Detection
Venue: arXiv cs.CV 2025
Year: 2025

Internal defect detection constitutes a critical process in ensuring component quality, for which anomaly detection serves as an effective solution. However, existing anomaly detection datasets predominantly focus on surface defects in visible-light images, lacking publicly available X-ray datasets targeting internal defects in components. To address this gap, we construct the first publicly accessible component X-ray anomaly detection (CXR-AD) dataset, comprising real-world X-ray images. The dataset covers five industrial component categories, including 653 normal samples and 561 defect samples with precise pixel-level mask annotations. We systematically analyze the dataset characteristics and identify three major technical challenges: (1) strong coupling between complex internal structures and defect regions, (2) inherent low contrast and high noise interference in X-ray imaging, and (3) significant variations in defect scales and morphologies. To evaluate dataset complexity, we benchmark three state-of-the-art anomaly detection frameworks (feature-based, reconstruction-based, and zero-shot learning methods). Experimental results demonstrate a 29.78% average performance degradation on CXR-AD compared to MVTec AD, highlighting the limitations of current algorithms in handling internal defect detection tasks. To the best of our knowledge, CXR-AD represents the first publicly available X-ray dataset for component anomaly detection, providing a real-world industrial benchmark to advance algorithm development and enhance precision in internal defect inspection technologies.
Knowledge Augmented Complex Problem Solving with Large Language Models: A Survey
Venue: arXiv cs.LG 2025
Year: 2025

Problem-solving has been a fundamental driver of human progress in numerous domains. With advancements in artificial intelligence, Large Language Models (LLMs) have emerged as powerful tools capable of tackling complex problems across diverse domains. Unlike traditional computational systems, LLMs combine raw computational power with an approximation of human reasoning, allowing them to generate solutions, make inferences, and even leverage external computational tools. However, applying LLMs to real-world problem-solving presents significant challenges, including multi-step reasoning, domain knowledge integration, and result verification. This survey explores the capabilities and limitations of LLMs in complex problem-solving, examining techniques including Chain-of-Thought (CoT) reasoning, knowledge augmentation, and various LLM-based and tool-based verification techniques. Additionally, we highlight domain-specific challenges in various domains, such as software engineering, mathematical reasoning and proving, data analysis and modeling, and scientific research. The paper further discusses the fundamental limitations of the current LLM solutions and the future directions of LLM-based complex problems solving from the perspective of multi-step reasoning, domain knowledge integration and result verification.
A practical algorithm for 2-admissibility
Venue: arXiv cs.DS 2025
Year: 2025

The $2$-admissibility of a graph is a promising measure to identify real-world networks which have an algorithmically favourable structure. In contrast to other related measures, like the weak/strong $2$-colouring numbers or the maximum density of graphs that appear as $1$-subdivisions, the $2$-admissibility can be computed in polynomial time. However, so far these results are theoretical only and no practical implementation to compute the $2$-admissibility exists. Here we present an algorithm which decides whether the $2$-admissibility of an input graph $G$ is at most $p$ in time $O(p^4 |V(G)|)$ and space $O(|E(G)| + p^2)$. The simple structure of the algorithm makes it easy to implement. We evaluate our implementation on a corpus of 214 real-world networks and find that the algorithm runs efficiently even on networks with millions of edges, that it has a low memory footprint, and that indeed many networks have a small $2$-admissibility.
Framework GNN-AID: Graph Neural Network Analysis Interpretation and Defense
Venue: arXiv cs.LG 2025
Year: 2025

The growing need for Trusted AI (TAI) highlights the importance of interpretability and robustness in machine learning models. However, many existing tools overlook graph data and rarely combine these two aspects into a single solution. Graph Neural Networks (GNNs) have become a popular approach, achieving top results across various tasks. We introduce GNN-AID (Graph Neural Network Analysis, Interpretation, and Defense), an open-source framework designed for graph data to address this gap. Built as a Python library, GNN-AID supports advanced trust methods and architectural layers, allowing users to analyze graph datasets and GNN behavior using attacks, defenses, and interpretability methods. GNN-AID is built on PyTorch-Geometric, offering preloaded datasets, models, and support for any GNNs through customizable interfaces. It also includes a web interface with tools for graph visualization and no-code features like an interactive model builder, simplifying the exploration and analysis of GNNs. The framework also supports MLOps techniques, ensuring reproducibility and result versioning to track and revisit analyses efficiently. GNN-AID is a flexible tool for developers and researchers. It helps developers create, analyze, and customize graph models, while also providing access to prebuilt datasets and models for quick experimentation. Researchers can use the framework to explore advanced topics on the relationship between interpretability and robustness, test defense strategies, and combine methods to protect against different types of attacks. We also show how defenses against evasion and poisoning attacks can conflict when applied to graph data, highlighting the complex connections between defense strategies. GNN-AID is available at \href{https://github.com/ispras/GNN-AID}{github.com/ispras/GNN-AID}
Long-Short Chain-of-Thought Mixture Supervised Fine-Tuning Eliciting Efficient Reasoning in Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Recent advances in large language models have demonstrated that Supervised Fine-Tuning (SFT) with Chain-of-Thought (CoT) reasoning data distilled from large reasoning models (e.g., DeepSeek R1) can effectively transfer reasoning capabilities to non-reasoning models. However, models fine-tuned with this approach inherit the "overthinking" problem from teacher models, producing verbose and redundant reasoning chains during inference. To address this challenge, we propose Long-Short Chain-of-Thought Mixture Supervised Fine-Tuning (LS-Mixture SFT), which combines long CoT reasoning dataset with their short counterparts obtained through structure-preserved rewriting. Our experiments demonstrate that models trained using the LS-Mixture SFT method, compared to those trained with direct SFT, achieved an average accuracy improvement of 2.3% across various benchmarks while substantially reducing model response length by approximately 47.61%. This work offers an approach to endow non-reasoning models with reasoning capabilities through supervised fine-tuning while avoiding the inherent overthinking problems inherited from teacher models, thereby enabling efficient reasoning in the fine-tuned models.
A new membership inference attack that spots memorization in generative and predictive models: Loss-Based with Reference Model algorithm (LBRM)
Venue: arXiv cs.LG 2025
Year: 2025

Generative models can unintentionally memorize training data, posing significant privacy risks. This paper addresses the memorization phenomenon in time series imputation models, introducing the Loss-Based with Reference Model (LBRM) algorithm. The LBRM method leverages a reference model to enhance the accuracy of membership inference attacks, distinguishing between training and test data. Our contributions are twofold: first, we propose an innovative method to effectively extract and identify memorized training data, significantly improving detection accuracy. On average, without fine-tuning, the AUROC improved by approximately 40\%. With fine-tuning, the AUROC increased by approximately 60\%. Second, we validate our approach through membership inference attacks on two types of architectures designed for time series imputation, demonstrating the robustness and versatility of the LBRM approach in different contexts. These results highlight the significant enhancement in detection accuracy provided by the LBRM approach, addressing privacy risks in time series imputation models.